diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp
index 5da025dd..5266cdad 100644
--- a/bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp
+++ b/bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp
@@ -51,6 +51,8 @@ using sofa::helper::logging::Message;
 #include <SofaPython3/Sofa/Core/Data/Binding_DataVectorString.h>
 #include <SofaPython3/Sofa/Core/Data/Binding_DataContainer.h>
 
+#include <sofa/core/init.h>
+
 namespace sofapython3
 {
 
@@ -130,6 +132,15 @@ PYBIND11_MODULE(Core, core)
     moduleAddBaseMeshTopology(core);
     moduleAddPointSetTopologyModifier(core);
     moduleAddTaskScheduler(core);
+
+    // called when the module is unloaded
+    auto atexit = py::module_::import("atexit");
+    atexit.attr("register")(py::cpp_function([]() {
+
+        sofa::core::cleanup();
+
+        msg_info("SofaPython3.Core") << "Sofa.Core unload()";
+    }));
 }
 
 } ///namespace sofapython3
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Helper/Submodule_Helper.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Helper/Submodule_Helper.cpp
index d5e03992..85d11514 100644
--- a/bindings/Sofa/src/SofaPython3/Sofa/Helper/Submodule_Helper.cpp
+++ b/bindings/Sofa/src/SofaPython3/Sofa/Helper/Submodule_Helper.cpp
@@ -18,7 +18,6 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 
-#include <sofa/core/init.h>
 #include <sofa/helper/init.h>
 #include <sofa/helper/logging/Messaging.h>
 #include <SofaPython3/PythonEnvironment.h>
@@ -108,7 +107,6 @@ static void parse_emitter_message_then(py::args args, const Action& action) {
 PYBIND11_MODULE(Helper, helper)
 {
     // These are needed to force the dynamic loading of module dependencies (found in CMakeLists.txt)
-    sofa::core::init();
     sofa::helper::init();
 
     helper.doc() = R"doc(
@@ -155,6 +153,12 @@ PYBIND11_MODULE(Helper, helper)
     moduleAddMessageHandler(helper);
     moduleAddVector(helper);
     moduleAddSystem(helper);
+
+    auto atexit = py::module_::import("atexit");
+    atexit.attr("register")(py::cpp_function([]() {
+        sofa::helper::cleanup();
+        msg_info("SofaPython3.Helper") << "Sofa.Helper unload()";
+    }));
 }
 
 } ///namespace sofapython3
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp
index dfb1eb65..28acf918 100644
--- a/bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp
+++ b/bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp
@@ -42,6 +42,7 @@ using sofa::simulation::Simulation;
 
 #include <sofa/core/init.h>
 #include <sofa/simulation/init.h>
+#include <sofa/simulation/common/init.h>
 #include <sofa/simulation/graph/init.h>
 
 namespace py = pybind11;
@@ -83,6 +84,17 @@ PYBIND11_MODULE(Simulation, simulation)
     {
         sofa::simulation::node::initTextures(n);
     });
+
+    // called when the module is unloaded
+    auto atexit = py::module_::import("atexit");
+    atexit.attr("register")(py::cpp_function([]() {
+
+        sofa::simulation::core::cleanup();
+        sofa::simulation::common::cleanup();
+        sofa::simulation::graph::cleanup();
+
+        msg_info("SofaPython3.Simulation") << "Sofa.Simulation unload()";
+    }));
 }
 
 } /// namespace sofapython3
diff --git a/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Module_SofaRuntime.cpp b/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Module_SofaRuntime.cpp
index e2e1359d..65c0bd44 100644
--- a/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Module_SofaRuntime.cpp
+++ b/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Module_SofaRuntime.cpp
@@ -72,23 +72,6 @@ using sofa::helper::logging::MainConsoleMessageHandler;
 namespace sofapython3
 {
 
-
-class SofaInitializer
-{
-public:
-    // TODO, ces trucs sont fort laid. Normalement ce devrait être une joli plugin qui
-    // appelle le init.
-    SofaInitializer(){
-        sofa::simulation::common::init();
-        sofa::simulation::graph::init();
-    }
-
-    ~SofaInitializer(){
-        sofa::simulation::common::cleanup();
-        sofa::simulation::graph::cleanup();
-    }
-};
-
 static std::vector<std::string>  getCategories(const std::string& className)
 {
     std::vector<std::string> categories;
@@ -109,8 +92,6 @@ static std::vector<std::string>  getCategories(const std::string& className)
     return categories ;
 }
 
-static SofaInitializer s;
-
 /// The first parameter must be named the same as the module file to load.
 PYBIND11_MODULE(SofaRuntime, m) {
 
@@ -132,13 +113,6 @@ PYBIND11_MODULE(SofaRuntime, m) {
 
               )doc";
 
-    // These are needed to force the dynamic loading of module dependencies (found in CMakeLists.txt)
-    sofa::core::init();
-    sofa::helper::init();
-    sofa::simulation::core::init();
-    sofa::simulation::graph::init();
-    sofa::simulation::common::init();
-
     // Add the plugin directory to PluginRepository
     const std::string& pluginDir = Utils::getExecutableDirectory();
     PluginRepository.addFirstPath(pluginDir);
@@ -192,6 +166,7 @@ PYBIND11_MODULE(SofaRuntime, m) {
     m.def("getCategories", &getCategories);
 
     addSubmoduleTimer(m);
+
 }
 
 }  // namespace sofapython3